From e9a0a150355ad5265dd4ba4b4633e4c643526e2b Mon Sep 17 00:00:00 2001 From: gongxh Date: Wed, 3 Sep 2025 10:54:07 +0800 Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E6=9E=84=E9=BB=91=E6=9D=BF=E6=95=B0?= =?UTF-8?q?=E6=8D=AE=E7=BB=93=E6=9E=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 4 +- src/behaviortree/BTNode/AbstractNodes.ts | 65 ++++----- src/behaviortree/BTNode/Action.ts | 30 ++-- src/behaviortree/BTNode/BTNode.ts | 169 +++++++++++++++++++++++ src/behaviortree/BTNode/BaseNode.ts | 86 ------------ src/behaviortree/BTNode/Composite.ts | 71 +++++----- src/behaviortree/BTNode/Condition.ts | 14 +- src/behaviortree/BTNode/Decorator.ts | 48 +++---- src/behaviortree/BehaviorTree.ts | 62 ++------- src/behaviortree/Blackboard.ts | 133 ++++++++++-------- src/kunpocc-behaviortree.ts | 2 +- 11 files changed, 379 insertions(+), 305 deletions(-) create mode 100644 src/behaviortree/BTNode/BTNode.ts delete mode 100644 src/behaviortree/BTNode/BaseNode.ts diff --git a/README.md b/README.md index 770e35a..3bc5a0c 100644 --- a/README.md +++ b/README.md @@ -156,8 +156,8 @@ enum Status { ```typescript // 在节点中使用黑板 - class CustomAction extends BaseNode { - tick(tree: BehaviorTree): Status { + class CustomAction extends BTNode { + tick: Status { // 获取数据 - 使用节点实例作为命名空间 const data = tree.blackboard.get("key", this); diff --git a/src/behaviortree/BTNode/AbstractNodes.ts b/src/behaviortree/BTNode/AbstractNodes.ts index d171e62..66eea5f 100644 --- a/src/behaviortree/BTNode/AbstractNodes.ts +++ b/src/behaviortree/BTNode/AbstractNodes.ts @@ -4,67 +4,70 @@ * @Description: 抽象节点基类 */ -import { BehaviorTree } from "../BehaviorTree"; -import { BaseNode } from "./BaseNode"; +import { IBlackboard } from "../Blackboard"; +import { BTNode, IBTNode } from "./BTNode"; /** - * 可以包含多个节点的集合装饰器基类 + * 叶子节点 基类 + * 没有子节点 */ -export abstract class Composite extends BaseNode { - constructor(...children: BaseNode[]) { - super(children); +export abstract class LeafNode extends BTNode { + constructor() { + super([]); } } /** - * 修饰节点基类 - * 只能包含一个子节点 + * 修饰节点 基类 + * 有且仅有一个子节点 */ -export abstract class Decorator extends BaseNode { - constructor(child: BaseNode) { +export abstract class Decorator extends BTNode { + constructor(child: IBTNode) { super([child]); } } /** - * 数值型装饰节点基类 - * 包含最大值和当前值的通用逻辑，适用于所有需要数值计数的装饰节点 + * 组合节点 基类 + * 多个子节点 + */ +export abstract class Composite extends BTNode { + constructor(...children: IBTNode[]) { + super(children); + } +} + +/** + * 数值型修饰节点 基类 + * 包含最大值和当前值的通用逻辑，适用于所有需要数值计数的修饰节点 */ export abstract class NumericDecorator extends Decorator { protected readonly _max: number; protected _value: number = 0; - constructor(child: BaseNode, max: number = 1) { + constructor(child: IBTNode, max: number = 1) { super(child); this._max = max; } - protected override initialize(tree: BehaviorTree): void { - super.initialize(tree); + protected override open(): void { + super.open(); this._value = 0; } } /** - * 记忆装饰节点基类 + * 记忆修饰节点基类 + * 只有记忆节点才需要设置局部数据 */ export abstract class MemoryComposite extends Composite { - protected runningIndex = 0; - - protected override initialize(tree: BehaviorTree): void { - super.initialize(tree); - // 检查是否需要重置记忆 - const shouldReset = tree.blackboard.get(`reset_memory`, this); - if (shouldReset) { - this.runningIndex = 0; - tree.blackboard.delete(`reset_memory`, this); - } + public override _initialize(global: IBlackboard, branch: IBlackboard): void { + super._initialize(global, branch); + this._local = branch.createChild(); } - /** - * 重置记忆状态，下次执行时将从第一个子节点开始 - */ - public resetMemory(): void { - this.runningIndex = 0; + protected override open(): void { + super.open(); + this.set(`__nMemoryRunningIndex`, 0); } } \ No newline at end of file diff --git a/src/behaviortree/BTNode/Action.ts b/src/behaviortree/BTNode/Action.ts index c2d3ee6..59a0d88 100644 --- a/src/behaviortree/BTNode/Action.ts +++ b/src/behaviortree/BTNode/Action.ts @@ -1,16 +1,16 @@ -import type { BehaviorTree } from "../BehaviorTree"; import { Status } from "../header"; -import { BaseNode } from "./BaseNode"; +import { LeafNode } from "./AbstractNodes"; +import { IBTNode } from "./BTNode"; -export class Action extends BaseNode { - protected _func: (subject?: any) => Status; - constructor(func: (subject?: any) => Status) { +export class Action extends LeafNode { + protected _func: (node: IBTNode) => Status; + constructor(func: (node: IBTNode) => Status) { super(); this._func = func; } - public tick(tree: BehaviorTree): Status { - return this._func?.(tree.subject) ?? Status.SUCCESS; + public tick(): Status { + return this._func?.(this) ?? Status.SUCCESS; } } @@ -19,7 +19,7 @@ export class Action extends BaseNode { * 次数内，返回RUNNING * 超次，返回SUCCESS */ -export class WaitTicks extends BaseNode { +export class WaitTicks extends LeafNode { private _max: number; private _value: number; @@ -29,12 +29,12 @@ export class WaitTicks extends BaseNode { this._value = 0; } - protected override initialize(tree: BehaviorTree): void { - super.initialize(tree); + protected override open(): void { + super.open(); this._value = 0; } - public tick(tree: BehaviorTree): Status { + public tick(): Status { if (++this._value >= this._max) { return Status.SUCCESS; } @@ -46,7 +46,7 @@ export class WaitTicks extends BaseNode { * 时间等待节点 时间(秒) * 时间到后返回SUCCESS，否则返回RUNNING */ -export class WaitTime extends BaseNode { +export class WaitTime extends LeafNode { private _max: number; private _value: number = 0; constructor(duration: number = 0) { @@ -54,12 +54,12 @@ export class WaitTime extends BaseNode { this._max = duration * 1000; } - protected override initialize(tree: BehaviorTree): void { - super.initialize(tree); + protected override open(): void { + super.open(); this._value = new Date().getTime(); } - public tick(tree: BehaviorTree): Status { + public tick(): Status { const currTime = new Date().getTime(); if (currTime - this._value >= this._max) { return Status.SUCCESS; diff --git a/src/behaviortree/BTNode/BTNode.ts b/src/behaviortree/BTNode/BTNode.ts new file mode 100644 index 0000000..4d1a28f --- /dev/null +++ b/src/behaviortree/BTNode/BTNode.ts @@ -0,0 +1,169 @@ +import { globalBlackboard, IBlackboard } from "../Blackboard"; +import { Status } from "../header"; + +export interface IBTNode { + readonly children: IBTNode[]; + /** 本节点的的黑板引用 */ + blackboard: IBlackboard; + /** + * 初始化节点 + * @param root 树根节点的黑板 + * @param parent 父节点的黑板 + */ + _initialize(root: IBlackboard, parent: IBlackboard): void; + + _execute(): Status; + tick(): Status; + cleanupAll(): void; + + /** + * 优先写入自己的黑板数据, 如果没有则写入父节点的黑板数据 + */ + set(key: string, value: T): void; + get(key: string): T; + + /** + * 写入树根节点的黑板数据 + */ + setRoot(key: string, value: T): void; + getRoot(key: string): T; + + /** + * 写入全局黑板数据 + */ + setGlobal(key: string, value: T): void; + getGlobal(key: string): T; +} + + +/** + * 基础节点 + * 每个节点只管理自己需要的状态 + */ +export abstract class BTNode implements IBTNode { + public readonly children: IBTNode[]; + + /** 树根节点的黑板引用 */ + protected _root!: IBlackboard; + /** 本节点的的黑板引用 可能等于 _parent */ + protected _local!: IBlackboard; + + private _isRunning: boolean; + /** + * 创建 + * @param children 子节点列表 + */ + constructor(children?: IBTNode[]) { + this.children = children ? [...children] : []; + this._isRunning = false; + } + + /** + * 打开节点 + * @param tree 行为树 + * + * @internal + */ + public _initialize(root: IBlackboard, parent: IBlackboard): void { + this._root = root; + // 在需要的节点中重写，创建新的local + this._local = parent; + } + + /** + * 执行节点 + * @internal + */ + public _execute(): Status { + // 首次执行时初始化 + if (!this._isRunning) { + this._isRunning = true; + this.open(); + } + + // 执行核心逻辑 + const status = this.tick(); + + // 执行完成时清理 + if (status !== Status.RUNNING) { + this._isRunning = false; + this.close(); + } + + return status; + } + + /** + * 初始化节点（首次执行时调用） + * 子类重写此方法进行状态初始化 + */ + protected open(): void { } + + /** + * 执行节点逻辑 + * 子类必须实现此方法 + * @returns 执行状态 + */ + public abstract tick(): Status; + + /** + * 清理节点（执行完成时调用） + * 子类重写此方法进行状态清理 + */ + protected close(): void { } + + /** + * 递归清理节点及其所有子节点的状态 + * 用于行为树中断时清理所有节点状态 + */ + public cleanupAll(): void { + // 清理基础状态 + this._isRunning = false; + + // 递归清理所有子节点 + for (const child of this.children) { + child.cleanupAll(); + } + } + + /** + * 设置获取全局黑板数据 + */ + public set(key: string, value: T): void { + this._local.set(key, value); + } + + public get(key: string): T { + return this._local.get(key); + } + + /** + * 设置获取树根节点的黑板数据 + */ + public setRoot(key: string, value: T): void { + this._root.set(key, value); + } + + public getRoot(key: string): T { + return this._root.get(key); + } + + /** + * 设置全局黑板数据 + */ + public setGlobal(key: string, value: T): void { + globalBlackboard.set(key, value); + } + + public getGlobal(key: string): T { + return globalBlackboard.get(key); + } + + public get local(): IBlackboard { + return this._local; + } + + public get blackboard(): IBlackboard { + return this._local; + } +} \ No newline at end of file diff --git a/src/behaviortree/BTNode/BaseNode.ts b/src/behaviortree/BTNode/BaseNode.ts deleted file mode 100644 index 08e87ff..0000000 --- a/src/behaviortree/BTNode/BaseNode.ts +++ /dev/null @@ -1,86 +0,0 @@ -import { BehaviorTree } from "../BehaviorTree"; -import { Status } from "../header"; - - -/** - * 基础节点 - * 每个节点只管理自己需要的状态 - */ -export abstract class BaseNode { - public readonly children: BaseNode[]; - private _id: string; - private _isRunning: boolean; - - set id(id: string) { this._id = id; } - get id(): string { return this._id } - - /** - * 创建 - * @param children 子节点列表 - */ - constructor(children?: BaseNode[]) { - this._id = ""; // 临时值，将在树构造时被正确设置 - this.children = children ? [...children] : []; - this._isRunning = false; - } - - /** - * 执行节点 - * @param tree 行为树 - * @returns 状态 - */ - public _execute(tree: BehaviorTree): Status { - // 首次执行时初始化 - if (!this._isRunning) { - this._isRunning = true; - this.initialize(tree); - } - - // 执行核心逻辑 - const status = this.tick(tree); - - // 执行完成时清理 - if (status !== Status.RUNNING) { - this._isRunning = false; - this.cleanup(tree); - } - - return status; - } - - /** - * 初始化节点（首次执行时调用） - * 子类重写此方法进行状态初始化 - * @param tree 行为树 - */ - protected initialize(tree: BehaviorTree): void { } - - /** - * 清理节点（执行完成时调用） - * 子类重写此方法进行状态清理 - * @param tree 行为树 - */ - protected cleanup(tree: BehaviorTree): void { } - - /** - * 执行节点逻辑 - * 子类必须实现此方法 - * @param tree 行为树 - * @returns 执行状态 - */ - public abstract tick(tree: BehaviorTree): Status; - - /** - * 递归清理节点及其所有子节点的状态 - * 用于行为树中断时清理所有节点状态 - */ - public cleanupAll(): void { - // 清理基础状态 - this._isRunning = false; - - // 递归清理所有子节点 - for (const child of this.children) { - child.cleanupAll(); - } - } -} \ No newline at end of file diff --git a/src/behaviortree/BTNode/Composite.ts b/src/behaviortree/BTNode/Composite.ts index 5f3755f..230684f 100644 --- a/src/behaviortree/BTNode/Composite.ts +++ b/src/behaviortree/BTNode/Composite.ts @@ -1,4 +1,3 @@ -import type { BehaviorTree } from "../BehaviorTree"; import { Status } from "../header"; import { Composite, MemoryComposite } from "./AbstractNodes"; @@ -8,12 +7,13 @@ import { Composite, MemoryComposite } from "./AbstractNodes"; * 任意一个Child Node返回不为 FAILURE, 本Node向自己的Parent Node也返回Child Node状态 */ export class MemSelector extends MemoryComposite { - public tick(tree: BehaviorTree): Status { - for (let i = this.runningIndex; i < this.children.length; i++) { - let status = this.children[i]!._execute(tree); + public tick(): Status { + let index = this.get(`__nMemoryRunningIndex`); + for (let i = index; i < this.children.length; i++) { + let status = this.children[i]!._execute(); if (status !== Status.FAILURE) { if (status === Status.RUNNING) { - this.runningIndex = i; + this.set(`__nMemoryRunningIndex`, i); } return status; } @@ -30,12 +30,13 @@ export class MemSelector extends MemoryComposite { * 所有节点都返回 SUCCESS, 本节点才返回 SUCCESS */ export class MemSequence extends MemoryComposite { - public tick(tree: BehaviorTree): Status { - for (let i = this.runningIndex; i < this.children.length; i++) { - let status = this.children[i]!._execute(tree); + public tick(): Status { + let index = this.get(`__nMemoryRunningIndex`); + for (let i = index; i < this.children.length; i++) { + let status = this.children[i]!._execute(); if (status !== Status.SUCCESS) { if (status === Status.RUNNING) { - this.runningIndex = i; + this.set(`__nMemoryRunningIndex`, i); } return status; } @@ -49,13 +50,13 @@ export class MemSequence extends MemoryComposite { * 从Child Node中随机选择一个执行 */ export class RandomSelector extends Composite { - public tick(tree: BehaviorTree): Status { + public tick(): Status { if (this.children.length === 0) { return Status.FAILURE; } const childIndex = Math.floor(Math.random() * this.children.length); - const status = this.children[childIndex]!._execute(tree); + const status = this.children[childIndex]!._execute(); return status; } } @@ -66,9 +67,9 @@ export class RandomSelector extends Composite { * 如遇到一个Child Node执行后返回 SUCCESS 或者 RUNNING，那停止迭代，本Node向自己的Parent Node也返回 SUCCESS 或 RUNNING */ export class Selector extends Composite { - public tick(tree: BehaviorTree): Status { + public tick(): Status { for (let i = 0; i < this.children.length; i++) { - let status = this.children[i]!._execute(tree); + let status = this.children[i]!._execute(); if (status !== Status.FAILURE) { return status; } @@ -84,9 +85,9 @@ export class Selector extends Composite { * 所有节点都返回 SUCCESS, 本节点才返回 SUCCESS */ export class Sequence extends Composite { - public tick(tree: BehaviorTree): Status { + public tick(): Status { for (let i = 0; i < this.children.length; i++) { - let status = this.children[i]!._execute(tree); + let status = this.children[i]!._execute(); if (status !== Status.SUCCESS) { return status; } @@ -96,21 +97,24 @@ export class Sequence extends Composite { } /** - * 并行节点 每次进入全部重新执行一遍 - * 当执行本类型Node时，它将从begin到end迭代执行自己的Child Node： - * 1. 当存在Child Node执行后返回 FAILURE, 本节点返回 FAILURE - * 2. 当存在Child Node执行后返回 RUNNING, 本节点返回 RUNNING - * 所有节点都返回 SUCCESS, 本节点才返回 SUCCESS + * 并行节点 每次进入全部执行一遍 + * 它将从begin到end迭代执行自己的Child Node： + * 1. 任意子节点返回 FAILURE, 返回 FAILURE + * 2. 否则 任意子节点返回 RUNNING, 返回 RUNNING + * 3. 全部成功, 才返回 SUCCESS */ export class Parallel extends Composite { - public tick(tree: BehaviorTree): Status { + public tick(): Status { let result = Status.SUCCESS; for (let i = 0; i < this.children.length; i++) { - let status = this.children[i]!._execute(tree); - if (status == Status.FAILURE) { + let status = this.children[i]!._execute(); + if (result === Status.FAILURE || status === Status.FAILURE) { result = Status.FAILURE; - } else if (result == Status.SUCCESS && status == Status.RUNNING) { + continue; + } + if (status === Status.RUNNING) { result = Status.RUNNING; + continue; } } return result; @@ -119,20 +123,23 @@ export class Parallel extends Composite { /** * 并行节点 每次进入全部重新执行一遍 - * 当执行本类型Node时，它将从begin到end迭代执行自己的Child Node： - * 1. 当存在Child Node执行后返回 FAILURE, 本节点返回 FAILURE - * 2. 任意 Child Node 返回 SUCCESS, 本节点返回 SUCCESS + * 它将从begin到end迭代执行自己的Child Node： + * 1. 任意子节点返回 SUCCESS, 返回 SUCCESS + * 2. 否则, 任意子节点返回 FAILURE, 返回 FAILURE * 否则返回 RUNNING */ export class ParallelAnySuccess extends Composite { - public tick(tree: BehaviorTree): Status { + public tick(): Status { let result = Status.RUNNING; for (let i = 0; i < this.children.length; i++) { - let status = this.children[i]!._execute(tree); - if (status == Status.FAILURE) { - result = Status.FAILURE; - } else if (result == Status.RUNNING && status == Status.SUCCESS) { + let status = this.children[i]!._execute(); + if (result === Status.SUCCESS || status === Status.SUCCESS) { result = Status.SUCCESS; + continue; + } + if (status === Status.FAILURE) { + result = Status.FAILURE; + continue; } } return result; diff --git a/src/behaviortree/BTNode/Condition.ts b/src/behaviortree/BTNode/Condition.ts index 92015ec..773ccbd 100644 --- a/src/behaviortree/BTNode/Condition.ts +++ b/src/behaviortree/BTNode/Condition.ts @@ -1,20 +1,20 @@ -import type { BehaviorTree } from "../BehaviorTree"; import { Status } from "../header"; -import { BaseNode } from "./BaseNode"; +import { LeafNode } from "./AbstractNodes"; +import { IBTNode } from "./BTNode"; /** * 条件节点 * 根据条件函数返回SUCCESS或FAILURE */ -export class Condition extends BaseNode { +export class Condition extends LeafNode { /** 执行函数 @internal */ - private readonly _func: (subject: any) => boolean; - constructor(func: (subject: any) => boolean) { + private readonly _func: (node: IBTNode) => boolean; + constructor(func: (node: IBTNode) => boolean) { super(); this._func = func; } - public tick(tree: BehaviorTree): Status { - return this._func?.(tree.subject) ? Status.SUCCESS : Status.FAILURE; + public tick(): Status { + return this._func?.(this) ? Status.SUCCESS : Status.FAILURE; } } \ No newline at end of file diff --git a/src/behaviortree/BTNode/Decorator.ts b/src/behaviortree/BTNode/Decorator.ts index 818db6e..83ab769 100644 --- a/src/behaviortree/BTNode/Decorator.ts +++ b/src/behaviortree/BTNode/Decorator.ts @@ -4,10 +4,9 @@ * @Description: 装饰节点 装饰节点下必须包含子节点 */ -import type { BehaviorTree } from "../BehaviorTree"; import { Status } from "../header"; import { Decorator, NumericDecorator } from "./AbstractNodes"; -import { BaseNode } from "./BaseNode"; +import { IBTNode } from "./BTNode"; /** * 结果反转节点 @@ -16,8 +15,8 @@ import { BaseNode } from "./BaseNode"; * 第一个Child Node节点, 返回 SUCCESS, 本Node向自己的Parent Node也返回 FAILURE */ export class Inverter extends Decorator { - public tick(tree: BehaviorTree): Status { - const status = this.children[0]!._execute(tree); + public tick(): Status { + const status = this.children[0]!._execute(); if (status === Status.SUCCESS) { return Status.FAILURE; @@ -41,44 +40,35 @@ export class LimitTime extends NumericDecorator { * @param child 子节点 * @param max 最大时间 (秒) 默认1秒 */ - constructor(child: BaseNode, max: number = 1) { + constructor(child: IBTNode, max: number = 1) { super(child, max * 1000); } - protected override initialize(tree: BehaviorTree): void { - super.initialize(tree); + protected override open(): void { this._value = Date.now(); } - public tick(tree: BehaviorTree): Status { + public tick(): Status { const currentTime = Date.now(); - if (currentTime - this._value > this._max) { return Status.FAILURE; } - - return this.children[0]!._execute(tree); + return this.children[0]!._execute(); } } /** * 次数限制节点 * 必须且只能包含一个子节点 - * 次数限制内, 返回子节点的状态, 次数达到后, 直接返回失败 + * 次数超过后, 直接返回失败; 次数未超过, 返回子节点状态 */ -export class LimitTimes extends NumericDecorator { - public tick(tree: BehaviorTree): Status { - if (this._value >= this._max) { +export class LimitTicks extends NumericDecorator { + public tick(): Status { + this._value++; + if (this._value > this._max) { return Status.FAILURE; } - const status = this.children[0]!._execute(tree); - if (status !== Status.RUNNING) { - this._value++; - if (this._value < this._max) { - return Status.RUNNING; - } - } - return status; + return this.children[0]!._execute(); } } @@ -89,9 +79,9 @@ export class LimitTimes extends NumericDecorator { * 次数超过之后返回子节点状态，否则返回 RUNNING */ export class Repeat extends NumericDecorator { - public tick(tree: BehaviorTree): Status { + public tick(): Status { // 执行子节点 - const status = this.children[0]!._execute(tree); + const status = this.children[0]!._execute(); // 如果子节点完成（成功或失败），增加计数 if (status === Status.SUCCESS || status === Status.FAILURE) { this._value++; @@ -112,8 +102,8 @@ export class Repeat extends NumericDecorator { * 子节点成功 计数+1 */ export class RepeatUntilFailure extends NumericDecorator { - public tick(tree: BehaviorTree): Status { - const status = this.children[0]!._execute(tree); + public tick(): Status { + const status = this.children[0]!._execute(); if (status === Status.FAILURE) { return Status.FAILURE; } @@ -136,9 +126,9 @@ export class RepeatUntilFailure extends NumericDecorator { * 子节点失败, 计数+1 */ export class RepeatUntilSuccess extends NumericDecorator { - public tick(tree: BehaviorTree): Status { + public tick(): Status { // 执行子节点 - const status = this.children[0]!._execute(tree); + const status = this.children[0]!._execute(); if (status === Status.SUCCESS) { return Status.SUCCESS; } diff --git a/src/behaviortree/BehaviorTree.ts b/src/behaviortree/BehaviorTree.ts index 5e4ca5b..e38363c 100644 --- a/src/behaviortree/BehaviorTree.ts +++ b/src/behaviortree/BehaviorTree.ts @@ -1,5 +1,6 @@ -import { Blackboard } from "./Blackboard"; -import { BaseNode } from "./BTNode/BaseNode"; +import { Blackboard, IBlackboard } from "./Blackboard"; +import { IBTNode } from "./BTNode/BTNode"; +import { Status } from "./header"; /** * 行为树 @@ -9,36 +10,23 @@ export class BehaviorTree { /** * @internal */ - private _root: BaseNode; + private _root: IBTNode; /** * @internal */ - private _blackboard: Blackboard; - /** - * @internal - */ - private _subject: T; + private _blackboard: IBlackboard; - /** - * 节点ID计数器，每个树实例独立管理 - * @internal - */ - private _nodeIdCounter: number = 0; - - get root(): BaseNode { return this._root; } - get blackboard() { return this._blackboard } - get subject(): T { return this._subject; } + get root(): IBTNode { return this._root; } + get blackboard(): IBlackboard { return this._blackboard } /** * constructor - * @param subject 主体 + * @param entity 实体 * @param root 根节点 */ - constructor(subject: T, root: BaseNode) { + constructor(entity: T, root: IBTNode) { this._root = root; - this._blackboard = new Blackboard(); - this._subject = subject; - + this._blackboard = new Blackboard(undefined, entity); // 构造时就初始化所有节点ID，避免运行时检查 this._initializeAllNodeIds(this._root); } @@ -46,17 +34,8 @@ export class BehaviorTree { /** * 执行行为树 */ - public tick(): void { - this._root._execute(this); - } - - /** - * 生成节点ID - * 每个树实例独立管理节点ID，避免全局状态污染 - * @internal - */ - private _generateNodeId(): string { - return `${++this._nodeIdCounter}`; + public tick(): Status { + return this._root._execute(); } /** @@ -65,13 +44,12 @@ export class BehaviorTree { * @param node 要初始化的节点 * @internal */ - private _initializeAllNodeIds(node: BaseNode): void { + private _initializeAllNodeIds(node: IBTNode, parent?: IBTNode): void { // 设置当前节点ID - node.id = this._generateNodeId(); - + node._initialize(this._blackboard, parent ? parent.blackboard : this._blackboard); // 递归设置所有子节点ID for (const child of node.children) { - this._initializeAllNodeIds(child); + this._initializeAllNodeIds(child, node); } } @@ -84,14 +62,4 @@ export class BehaviorTree { // 重置所有节点的状态 this._root.cleanupAll(); } - - /** - * 重置指定记忆节点的记忆状态 - * 用于精确控制记忆节点的重置，而不影响其他状态 - * @param node 记忆节点 - */ - public resetMemoryNode(node: BaseNode): void { - // 通过黑板标记该节点需要重置记忆 - this._blackboard.set(`reset_memory`, true, node); - } } \ No newline at end of file diff --git a/src/behaviortree/Blackboard.ts b/src/behaviortree/Blackboard.ts index f6d0b1b..c9aa028 100644 --- a/src/behaviortree/Blackboard.ts +++ b/src/behaviortree/Blackboard.ts @@ -4,67 +4,90 @@ * @Description: 行为树共享数据 * * 专门用于存储和管理行为树执行过程中的共享数据 - * 使用 Symbol 作为键实现高性能且安全的键值存储 */ -// 为了避免循环依赖，我们定义一个最小接口 -interface IBlackboardNode { - readonly id: string; + +/** + * 黑板数据接口 + */ +export interface IBlackboard { + get(key: string): T; + set(key: string, value: T): void; + delete(key: string): void; + has(key: string): boolean; + clear(): void; + createChild(scope?: number): IBlackboard; } -export class Blackboard { - private readonly _data = new Map>(); +/** + * 黑板类 + */ +export class Blackboard implements IBlackboard { + private readonly _data = new Map(); + public parent?: Blackboard | undefined; + public children = new Set(); + + /** 实体 */ + private readonly _entity: any; + public get entity(): any { + return this._entity || this.parent?.entity; + } + + constructor(parent?: Blackboard, entity?: any) { + this.parent = parent; + if (parent) { + parent.children.add(this); + } + + this._entity = entity; + } + + /** 核心: 查找链实现 */ + public get(key: string): T { + if (this._data.has(key)) { + return this._data.get(key) as T; + } + return this.parent?.get(key) as T; + } + + /** 写入: 只在当前层 */ + public set(key: string, value: T): void { + this._data.set(key, value); + } + + /** 检查: 沿链查找 */ + public has(key: string): boolean { + return this._data.has(key) || (this.parent?.has(key) ?? false); + } + + public delete(key: string): void { + this._data.delete(key); + } + + public createChild(): Blackboard { + return new Blackboard(this); + } public clear(): void { + // 从父黑板中删除自己 + if (this.parent) { + this.parent.children.delete(this); + } + + // 清理所有子黑板 + this.children.forEach(child => { + child.parent = undefined; + }); + + this.children.clear(); + + // 断开父级引用 + this.parent = undefined; + + // 清空当前黑板数据 this._data.clear(); } +} - /** - * 设置数据 - * @param key 键名 - * @param value 值 - * @param node 节点实例（用于生成唯一 Symbol） - */ - public set(key: string, value: T, node: IBlackboardNode): void { - let map = this._data.get(node); - if (!map) { - map = new Map(); - this._data.set(node, map); - } - map.set(key, value); - } - - /** - * 获取数据 - * @param key 键名 - * @param node 节点实例 - * @returns 值 - */ - public get(key: string, node: IBlackboardNode): T | undefined { - return this._data.get(node)?.get(key) as T; - } - - /** - * 检查是否存在指定键 - * @param key 键名 - * @param node 节点实例 - * @returns 是否存在 - */ - public has(key: string, node: IBlackboardNode): boolean { - return this._data.has(node) ? this._data.get(node)?.has(key) || false : false; - } - - /** - * 删除指定键的数据 - * @param key 键名 - * @param node 节点实例 - * @returns 是否删除成功 - */ - public delete(key: string, node: IBlackboardNode): boolean { - if (this.has(key, node)) { - this._data.get(node)?.delete(key); - return true; - } - return false; - } -} \ No newline at end of file +// 全局共享的黑板实例 +export const globalBlackboard = new Blackboard(); \ No newline at end of file diff --git a/src/kunpocc-behaviortree.ts b/src/kunpocc-behaviortree.ts index 2fb8a62..2a76bc4 100644 --- a/src/kunpocc-behaviortree.ts +++ b/src/kunpocc-behaviortree.ts @@ -4,7 +4,7 @@ export { BehaviorTree } from "./behaviortree/BehaviorTree"; export { Blackboard } from "./behaviortree/Blackboard"; export * from "./behaviortree/BTNode/AbstractNodes"; export * from "./behaviortree/BTNode/Action"; -export { BaseNode as Node } from "./behaviortree/BTNode/BaseNode"; +export { IBTNode } from "./behaviortree/BTNode/BTNode"; export * from "./behaviortree/BTNode/Composite"; export { Condition } from "./behaviortree/BTNode/Condition"; export * from "./behaviortree/BTNode/Decorator";